EP2443472A1 - Two-dimensional and three-dimensional position sensing systems and sensors therefor - Google Patents
Two-dimensional and three-dimensional position sensing systems and sensors thereforInfo
- Publication number
- EP2443472A1 EP2443472A1 EP10788544A EP10788544A EP2443472A1 EP 2443472 A1 EP2443472 A1 EP 2443472A1 EP 10788544 A EP10788544 A EP 10788544A EP 10788544 A EP10788544 A EP 10788544A EP 2443472 A1 EP2443472 A1 EP 2443472A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- sensor
- radiation
- dimensional
- intensity signal
- linear array
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Ceased
Links
- 230000005855 radiation Effects 0.000 claims abstract description 225
- 238000000034 method Methods 0.000 claims description 37
- 230000003287 optical effect Effects 0.000 claims description 13
- 238000001914 filtration Methods 0.000 claims description 2
- 238000003491 array Methods 0.000 description 15
- 230000000903 blocking effect Effects 0.000 description 2
- 238000001228 spectrum Methods 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 1
- 238000002329 infrared spectrum Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 238000002211 ultraviolet spectrum Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
- G01J1/00—Photometry, e.g. photographic exposure meter
- G01J1/42—Photometry, e.g. photographic exposure meter using electric radiation detectors
- G01J1/4228—Photometry, e.g. photographic exposure meter using electric radiation detectors arrangements with two or more detectors, e.g. for sensitivity compensation
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
- G01S3/78—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using electromagnetic waves other than radio waves
- G01S3/782—Systems for determining direction or deviation from predetermined direction
- G01S3/783—Systems for determining direction or deviation from predetermined direction using amplitude comparison of signals derived from static detectors or detector systems
- G01S3/784—Systems for determining direction or deviation from predetermined direction using amplitude comparison of signals derived from static detectors or detector systems using a mosaic of detectors
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/26—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light
- G01D5/32—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light
- G01D5/34—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
- G01J1/00—Photometry, e.g. photographic exposure meter
- G01J1/42—Photometry, e.g. photographic exposure meter using electric radiation detectors
- G01J2001/4247—Photometry, e.g. photographic exposure meter using electric radiation detectors for testing lamps or other light sources
Definitions
- the described embodiments relate to systems and methods for sensing the position of a radiation source or a radiation blocking object in two or three dimensions.
- the embodiments also relate to sensors for use in such systems and methods.
- Some embodiments of the invention provide sensors for estimating the direction of an object relative to the sensor.
- a radiation source emits generated or reflected radiation towards a sensor.
- the sensor has a linear optical sensor array behind an aperture plate.
- the sensor array has a plurality of sensor elements arranged linearly.
- the aperture plate has an aperture to allow radiation from the radiation source to reach only some of the sensor elements when the system is in use.
- An intensity signal from the sensor is coupled to a processor which is configured to identify sensor elements upon which the radiation is incident.
- a center sensor element is chosen from among the illuminated sensor elements and is used to estimate the direction of the radiation source relative to the sensor.
- FIG. 3 Other embodiments provide a sensor with a pair of sensor arrays.
- the sensor arrays are not co-linear and may be arranged orthogonally to one another. Radiation from a radiation source is incident on both sensor arrays through respective apertures in an aperture plate.
- a processor receives an intensity signal from each sensor array and calculates a line based on the intensity signals. The radiation source lies on or near the line.
- the invention provides a three-dimensional position sensing system.
- three sensors receive radiation from a radiation source.
- a processor calculates three planes based on radiation incident on each sensor.
- a radiation source lies on or near the three planes and is estimated to be at the intersection of the planes.
- two of the sensors may be combined into a single sensor having two sensor arrays arranged orthogonally to one another.
- a pair of sensors, each having two sensor arrays are used to estimate a pair of lines.
- a radiation source is on or near each of the lines and is estimated to lie at the mid-point of the shortest line segment between the two lines.
- One aspect provides a method of estimating the direction of a radiation source positioned in a sensing region, the method comprising: providing a two-dimensional radiation sensor, the radiation sensor comprising: a first linear array sensor having a plurality of first sensor elements arranged linearly, the first sensor elements facing a sensing region; a second linear array sensor having a plurality of second sensor elements arranged linearly, the second sensor elements facing the sensing region; an aperture plate positioned between the linear array sensor and the sensing region to block radiation from the sensing region from reaching the linear array sensor; a first aperture formed in the aperture plate to allow radiation from the sensing region to reach some of the first sensor elements; and a second aperture formed in the aperture plate to allow radiation from the sensing region to reach some of the second sensor elements; receiving a first intensity signal from the first linear array sensor, wherein the first intensity signal includes first intensity values corresponding to radiation incident on the first sensor elements through the first aperture; receiving a second intensity signal from the second linear array sensor, wherein the second intensity signal includes second intensity values corresponding
- the first radiation intensity signal includes at least one high intensity value exceeding a first threshold value; the second radiation intensity signal includes at least one high intensity value exceeding a second threshold value; and the direction is determined based on the high intensity values in the first and second radiation intensity signals;.
- the first radiation intensity signal includes a range of high intensity values exceeding a first threshold value; and the second radiation intensity signal includes a range of high intensity values exceeding a second threshold value; and wherein determining the direction includes: selecting a first center sensor element based on the range of high intensity values in the first radiation intensity signal; selecting a second center sensor element based on the range of high intensity values in the second radiation intensity signal; and determining a direction based on the first and second center sensor element.
- the first and second radiation intensity signals are analog signals and wherein determining the direction includes: converting the first radiation intensity signal into a corresponding first final radiation intensity signal; converting the second radiation intensity signal into a corresponding second final radiation intensity signal; and determining the direction based on the first and second final radiation intensity signals.
- the first and second radiation intensity signals are digital signals having either a high value or a low value corresponding respectively to each of the first and second sensor elements and wherein determining the direction includes: selecting a first center sensor element based on a range of high intensity values in the first radiation intensity signal; selecting a second center sensor element based on a range of high intensity values in the second radiation intensity signal; and determining a direction based on the first and second center sensor elements.
- the method includes filtering the first and second radiation intensity signals to remove spurious values before determining the direction.
- determining the direction includes looking up a first angle corresponding to the first radiation intensity signal in a lookup table and looking up a second angle corresponding to the second radiation intensity signal in a lookup table. [13] In some embodiments determining the direction includes calculating a first angle and calculating a second angle.
- the first and second angles are combined to determine the direction.
- Another aspect provides a method of estimating the position of a radiation source in a three-dimensional space, the method comprising: positioning a two-dimensional sensor in a first position relative to the three-dimensional space; positioning a one- dimensional sensor in a second position relative to the three-dimensional space, wherein the first and second position sensors are separated by a distance; determining a ray relative to two-dimensional sensor; determining a plane relative to the one- dimensional position sensor; and estimating the position of radiation source to be at the intersection of the plane and the ray.
- Another aspect provides a method of estimating the position of a radiation source in a three-dimensional space, the method comprising: positioning a first one- dimensional sensor in a first position relative to the three-dimensional space; positioning a second one-dimensional sensor in a second position relative to the three-dimensional space; positioning a third one-dimensional sensor in a third position relative to the three- dimensional space; determining a first plane relative to the first position sensor; determining a second plane relative to the second position sensor; determining a third plane relative to the third position sensor; and estimating the position of the radiation source to be at the intersection of the three planes.
- each of the first, second and third one-dimensional sensors includes a linear array sensor, and wherein the linear array sensor of the third one-dimensional sensor is positioned orthogonally to the linear array sensor of the first one-dimensional sensor.
- the linear array sensors of the first and second one- dimensional sensors are positioned co-linearly.
- Another aspect provides a method of estimating the position of a radiation source in a three-dimensional space, the method comprising: positioning a first two- dimensional sensor in a first position relative to the three-dimensional space; positioning a second two-dimensional sensor in a second position relative to the three-dimensional space; determining a first ray relative to the first two-dimensional sensor; determining a second ray relative to the second two-dimensional sensor; estimating the position of the radiation based on the first and second rays.
- the position of the radiation source is estimated to be on a shortest line segment between the first and second rays.
- the position of the radiation source is estimated to be at the midpoint of the line segment.
- a two-dimensional sensor comprising: a first linear array sensor having a plurality of first sensor elements arranged linearly, the first sensor elements facing a sensing region; a second linear array sensor having a plurality of second sensor elements arranged linearly, the second sensor elements facing the sensing region; an aperture plate positioned between the linear array sensor and the sensing region to block radiation from the sensing region from reaching the linear array sensor; first aperture formed in the aperture plate to allow radiation from the sensing region to reach some of the first sensor elements; and a second aperture formed in the aperture plate to allow radiation from the sensing region to reach some of the second sensor elements.
- the first and second linear array sensors are arranged orthogonally.
- the senor includes a processor coupled to the first linear array sensor to: receive a first radiation intensity signal from the first linear array sensor, wherein the first radiation intensity signal corresponds to the intensity of radiation incident on a range of first sensor elements through the first aperture; and receive a second radiation intensity signal from the second linear array sensor, wherein the second radiation intensity signal corresponds to the intensity of radiation incident on a range of second sensor elements through the second aperture.
- the senor includes a first optical filter to filter radiation reaching the first sensor elements and a second optical filter to filter radiation reaching the second sensor elements.
- the sensor elements are sensitive to radiation emitted by a radiation source in the sensing region and wherein the optical filter is selected to allow radiation emitted by the radiation source to reach the sensor elements.
- the processor is configured to estimate a direction relative to the position sensor in response to the first and second radiation intensity signals.
- Figure 1 illustrates a sensor according to the present invention
- Figure 2 is a partial cut-away front view of the sensor of Figure 1 ;
- Figure 3 is a cross-sectional top-view of the sensor of Figure 1 ;
- Figure 4 illustrates an intensity signal from the sensor of Figure 1 ;
- FIGS. 5 and 6 illustrate other example intensity signals
- Figure 7 illustrates a final intensity signal based on the signal of Figure 4.
- Figure 8 illustrates a system for estimating the position of a radiation source
- Figure 9 illustrates a first whiteboard system according to the present invention.
- Figures 10 to 12 illustrate several three-dimensional position sensing systems. [30] The drawings are illustrative only and are not drawn to scale.
- Exemplary embodiments described herein provide details relating to optical sensor systems and methods for determining the position of a radiation source or radiation blocking object. Other exemplary embodiments describe details of whiteboard systems for tracking the movement of a pen or other object on a whiteboard surface.
- the radiating source may radiate radiation generated by the radiation source or may reflect radiation from other sources.
- the radiation may be in the visible light spectrum or in other spectrums, such as the ultraviolet or infrared spectrums.
- the embodiments described herein are exemplary only and other implementations and configurations of optical sensors are also possible.
- Radiation source 110 emits radiation 112 that is incident on the sensor 100.
- a radiation source is described herein as emitting radiation regardless of whether the radiation source simply reflects radiation produced by another radiation source or the radiation source generates radiation which then propagates away from the radiation source.
- radiation source 110 may be a passive source which reflects radiation initially produce by another radiation source.
- radiation source may be a reflective source that simply reflects radiation towards sensor 100.
- radiation source 110 may be an active radiation source such as a LED, a light bulb or other source.
- Sensor 100 includes a linear sensor array 114, an aperture plate 118 and a processor 120.
- Linear sensor array 114 is mounted on a sensor support 128, which is in turn mounted on a base plate 126.
- the aperture plate 118 is also mounted on base plate 126.
- Sensor array 114 has a plurality of sensor elements 116 that are arranged linearly. Each of the sensor elements 116 is sensitive to radiation emitted by radiation source 110 positioned in a sensing region 111.
- sensor array 114 may be a linear CMOS sensor that is sensitive to visible or infra-red radiation emitted by radiation source 110.
- Sensor array 114 is coupled to processor 120.
- Sensor array 114 provides an intensity signal 122 ( Figure 3) to the processor 120.
- Aperture plate 118 has a aperture 124 formed in it such that radiation emitted by radiation source 110 is incident on only some of the sensor elements 116.
- aperture 124 is a slit, allowing the radiation source 110 to be moved in the z dimension and still emit radiation onto sensor 100 through aperture 124.
- the aperture may be a hole or may have another shape.
- the shape (including the size) of the aperture may be selected based on the sensitivity, shape and spacing of the sensor elements 116.
- the sensing region 111 is the range of space in which a radiation source 110 can emit radiation that will be incident on a sensing element 116 through the aperture 124.
- the sensor elements 116 are arranged generally parallel to the plane of the sensing region 111.
- an optical filter may be used to limit the frequency band of radiation incident on the sensor array 114.
- an optical filter may be positioned in front of aperture 124 (as shown in Figure 2), or between aperture 124 and the sensor array 114 to reduce the amount of extraneous radiation reaching sensor element 116.
- a filter may allow only radiation in a frequency range corresponding to radiation emitted by the radiation source 110 to reach the sensor elements 116.
- an optical notch filter may be used to block undesirable radiation from reaching the sensor elements 116. Using an optical filter can improve the operation of sensor 100, for example, by increasing the signal-to-noise ratio in an intensity signal.
- FIG. 4 illustrates an example intensity signal 122.
- Intensity signal 122 is an analog signal provided by sensor array 114.
- Intensity signal 122 generally has a low intensity level corresponding to most sensor elements 116 on which little or no radiation from radiation source 110 is incident.
- Intensity signal 122 has a relatively high intensity level corresponding to sensor elements 116 upon which radiation from radiation source 110 is incident.
- the dimensions and spacing of the sensor elements 116 and the aperture 124 may be such that only one or a few sensor elements 116 may have radiation from radiation source 110 incident upon them.
- the aperture 124 may be shaped to allow radiation from radiation source 110 to be incident on a larger number of sensor elements.
- the intensity signal 122 may be an analog signal or a digital signal (or a combination of both).
- intensity levels corresponding to specific array elements may have two or more values.
- Figure 5 illustrates an intensity signal 122 in which intensity levels are at either a high level or a low level depending on whether the radiation incident on each sensor element is below or above a threshold.
- the intensity of the radiation incident on each sensor element may be reported as an intensity level within a range of values.
- Figure 6 illustrates an intensity signal in which an intensity level between a low value and a high value is provided for each sensor element.
- intensity signal 122 is a raw intensity signal that is converted into a final intensity signal 136 by processor 120.
- processor 120 is configured to do so in the following manner.
- Processor 120 first estimates a threshold value for distinguishing between background levels of radiation and higher levels of radiation emitted by radiation source 110. This may be done for example, by identifying the most common intensity level (a modal value) and setting the threshold at a level between than the modal intensity level and the peak levels of the raw intensity signal.
- the raw intensity signal 122 may be a bi- modal signal and the threshold may be set at a level between the two modal values. In other embodiments, this may be done by calculating the average intensity level (a mean value, which will typically be between the background radiation level and the level of radiation emitted by the radiation source 110. In other embodiments, the threshold level may be selected in another manner.
- a threshold level 134 is calculated in this example as follows:
- Threshold Level 134 (Peak Intensity Level - Average Intensity Level) * 30%
- the final intensity signal 136 has a high intensity for sensor elements that had an intensity level exceeding the threshold 134 in the raw intensity signal and a low intensity level for sensor element that had an intensity level at or below the threshold in the raw intensity signal.
- the final intensity signal 136 will have a range of intensity levels at the high level corresponding to sensor elements on which radiation from radiation source 110 is incident through aperture plate 118.
- the processor identifies a center sensor element in the middle of the range of sensor elements for which the final intensity signal 136 has a high level.
- sensor array has 4096 sensor elements and the intensity levels for sensor elements 2883 to 2905 are high in the final intensity signal 136.
- Sensor element 2894 is the center element, as is shown in Figure 3.
- the center element may be calculated directly from the raw intensity signal.
- the process for selecting the center element from the final intensity signal 136 may also be used to calculate a center element directly from digital intensity signal that has only two values, as illustrated in Figure 5.
- the center element may be calculated in other ways. For example, if the sensor provides a range of intensity level, as shown in Figures 4 and 6, the processor may be configured to select the sensor element with the highest sensor intensity level.
- the processor may filter the raw or final intensity signal to remove spurious values. For example, an intensity signal may be filtered to remove high intensity levels for one or a small number of sensor elements that are surrounded by low intensity levels.
- the aperture plate and the geometry of the sensor array 118 may be arranged such that radiation from the radiation source 110 will illuminate a group of sensor elements. If a small group of elements, fewer than should be illuminated by the radiation source, have a high intensity level and are surrounded by sensor elements with a low intensity level, the group of elements may be treated as having a low intensity level.
- sensor 100 is positioned at a predetermined angle relative to the x-y plane. In this embodiment, sensor 100 is positioned at a 45° angle to the x and y dimensions.
- Processor 120 receives the intensity signal 122 and determines an angle ⁇ ( Figure 1) at which radiation from radiation source 110 is incident on the sensor 100.
- Processor 120 determines angle ⁇ based on the center sensor element. This may be done using a variety of geometric or computing techniques or a combination of techniques.
- Processor 120 determines angle ⁇ relative to a reference point, which will typically be within the dimensions of sensor 100. In some embodiments, the reference point may be outside the dimensions of sensor 100. In the present embodiment, angle ⁇ is determine relative to reference point 130, which is at the centre of aperture 124. The sensor array is positioned a distance h from the aperture plate with the centre 140 of the sensor array directly behind reference point 130. Center sensor element 2894 is spaced a distance d from the centre 140 of the sensor array. Angle ⁇ may be calculated as follows:
- a lookup table may be used to determine angle ⁇ .
- Angle ⁇ may be calculated in advance for every sensor element 116 in the sensor array 114 and the result may be stored in a lookup table that is accessible to processor 120.
- Processor 120 may then lookup angle ⁇ after the center element has been identified.
- Collectively reference point 130 and angle ⁇ define a ray 132 along which radiation source 110 is located relative to sensor 100.
- System 200 includes a pair of sensors 202 and 204, which are similar to sensor 100.
- Sensor 202 has a reference point 230.
- Ray 232 passes through reference point 230 and is at an angle ⁇ from the y-dimension.
- Sensor 204 has a reference point 236.
- Ray 246 passes through reference point 236 and is at an angle ⁇ relative to the y dimension.
- Radiation source 210 lies at the intersection of rays 232 and 246.
- Sensors 202 and 204 may share a processor 220 such that their respective sensor arrays 214 and 248 provide an intensity signal to the processor 220.
- Processor 220 calculates rays 232 and 246 in the manner described above in relation to ray 132 and Figure 3. Processor 220 may calculate the rays in any manner, including the lookup table technique described above. [51] Rays 232 and 246 lies on the x-y plane. Processor 220 calculates the intersection point 250 at which rays 232 and 246 intersect. The intersection point 250 is an estimate of the position of the radiation source 210.
- Reference point 236 is located at the origin of the x-y plane and is at point (0,0). Reference points 236 and 230 are separated by a distance d in the x dimension such that reference point 230 is at point (d,0). Processor 220 calculates angles ⁇ and ⁇ as described above. Radiation source 310 is located at point (x p , y p ). The estimated position of the radiation source 210 is calculated as follows:
- Processor 220 may be configured to estimate the position of radiation source 210 repetitively. As the radiation source is moved about, its estimated position is recorded, providing a record of the movement of the radiation source. Optionally, processor 220 may provide the current or recorded (or both) to an device coupled to the processor. [54] Reference is next made to Figure 9, which illustrates a two-dimensional position sensor 300. Sensor 300 has two sensor arrays 314h and 314v, each of which is a linear array sensor having sensor elements 316h and 316v that sense radiation emitted by a radiation source 310. Each sensor array 314h, 314v is positioned behind an aperture plate 318.
- a radiation source 310 is positioned in three dimensional sensing region 311, spaced in the z-dimension from the sensor 300.
- Aperture plate 318 has an aperture 324h formed in it, and aligned with the centre of sensor array 314h to allow radiation from radiation source 310 to be incident on only some of the sensor elements 316h.
- aperture plate 318 has an aperture 324v that is aligned centrally with sensor array 314v to allow radiation from radiation source 310 to be incident on only some of the sensor elements 316v.
- apertures 324h, 324v are circular.
- Sensor arrays 316h and 316v are arranged orthogonally. Sensor elements 316h extend vertically (in the y dimension) such that radiation passing through aperture 324h remains incident on the sensor elements 316h as radiation source 310 moves in the y and z dimensions (the z dimension is perpendicular to the plane of Figure 9). Similarly, sensor elements 316v extend in the x dimension such that radiation from radiation source 310 remains incident on the sensor elements 316v as radiation source 310 moves in the x and z dimensions.
- Sensor arrays 314h, 314v each provide an intensity signal 322h, 322v to a processor 320.
- Processor 320 identifies a central sensor element 316hc based on intensity signal 322h as described above in relation to intensity signal 122 ( Figures 4 and 7).
- Processor 320 calculates a plane 332h based on a reference point 33Oh and the central sensor element 316hc.
- Reference point 33Oh is at the center of aperture 324h.
- Plane 332h is parallel to the y-axis and passes through the center sensor element 316hc and reference point 23Oh.
- Plane 332h is at an angle ⁇ from the z-axis. Plane 332h may be calculated using geometric or computational techniques, as described above.
- Processor 320 also identifies a central sensor element 316hv based on intensity signal 322v.
- Processor 320 calculates a plane 332v based on reference point 33Ov and central sensor element 316hv.
- Reference point 33Ov is at the center of aperture 324v.
- Plane 332v is parallel to the x-axis and passes through the central sensor elements 316hv and the reference point 33Ov.
- Plane 332v is at an angle ⁇ from y-axis.
- Processor 320 then calculates a line of intersection 352 between planes 332v and 332h. Radiation source 310 lies on or near the line of intersection 352.
- Figure 10 illustrates a position sensing system 301 for estimating the position of radiation source 310 in three dimensional space by combining a two-dimensional sensor 300 and a one-dimensional sensor 100.
- the sensor array 114 of sensor 100 is coupled to processor 320 in place of processor 120 ( Figure 1).
- Sensors 100 and 300 are separated by a known distance d.
- Sensor 300 is used as described above to estimate a line 352.
- Radiation from radiation source 310 is also incident on sensor 100.
- Processor 320 receives an intensity signal from the sensor array 114 and identifies a center sensor element 116 as described above.
- Processer 320 calculates a plane 358 that is parallel to the y-axis and passes through the center sensor element 116 ( Figure 3) and the reference point 130 ( Figure 3) of sensor 100. Processor 320 calculates the intersection 360 of plane 358 with line 352 and the point of intersection is an estimate of the position of the radiation source 310 in three-dimensional space.
- the embodiment of Figure 10 illustrates a three-dimensional position sensing system 301, which is an example of the use of three sensors (which may share a single processor) estimate the position of a radiation source in three-dimensions. More generally, three sensors, such as sensor 100, may be used to calculate three planes based on the incidence of radiation from the radiation source on each of the sensor. The processor calculates a point at the intersection of the three planes. The radiation source is estimated to be at the point of intersection.
- the accuracy of the estimated position of the radiation source can be affected by the orientation of the three sensors. For example, if the linear sensor arrays of two of the sensors are co-linear or almost co-linear, two of the planes calculated by the processor will or may be parallel or may not intersect close to the radiation source.
- the three linear sensors are preferably positioned such that their respective sensor arrays are not co-linear.
- FIG. 11 illustrates a three- dimensional position sensing system 400.
- One-dimensional sensors 402, 404 and 406 share a processor 420.
- Sensors 402 and 404 are co-linear and parallel to the x-axis.
- Sensor 406 is parallel to the y-axis.
- Radiation form radiation source 410 is incident on all three sensors.
- Processor calculates planes 462, 464 and 466 based on intensity signals received, respectively from sensors 402, 404 and 406.
- Planes 462 and 464 intersect at line 468.
- Plane 466 intersect planes 462 and 464 at point 470, which is an estimate of the position of radiation source 410.
- FIG. 12 illustrates another three-dimensional position sensing system 500.
- System 500 has two sensors 502 and 504 similar to sensor 300 ( Figure 9). Each sensor has two sensor arrays (as described above in relation to sensor 300) and each of the sensor arrays is coupled to a processor 520.
- Processor 520 calculates a line 552 based on intensity signals received from sensor 502 and a line 570 based on intensity signals received from sensor 502, in the manner described above in relation to sensor 300.
- Radiation source 510 lies on or near each of the lines 552 and 570. In this embodiment, processor 520 calculates the shortest line segment 572 between lines 552 and 570. Radiation source 510 is estimated to be at the midpoint 574 of line 572.
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Abstract
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Application Number | Priority Date | Filing Date | Title |
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US18765309P | 2009-06-16 | 2009-06-16 | |
PCT/CA2010/000884 WO2010145003A1 (en) | 2009-06-16 | 2010-06-16 | Two-dimensional and three-dimensional position sensing systems and sensors therefor |
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EP2443472A1 true EP2443472A1 (en) | 2012-04-25 |
EP2443472A4 EP2443472A4 (en) | 2012-12-05 |
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EP10788544A Ceased EP2443472A4 (en) | 2009-06-16 | 2010-06-16 | Two-dimensional and three-dimensional position sensing systems and sensors therefor |
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US (2) | US8969822B2 (en) |
EP (1) | EP2443472A4 (en) |
JP (1) | JP5648050B2 (en) |
KR (1) | KR20120034205A (en) |
CN (3) | CN109387807A (en) |
CA (1) | CA2761728C (en) |
WO (1) | WO2010145003A1 (en) |
Cited By (1)
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IT201900007040A1 (en) | 2019-05-21 | 2020-11-21 | Centro Di Ricerca Sviluppo E Studi Superiori In Sardegna Crs4 Srl Uninominale | System for detecting interactions with a surface |
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CN105182284A (en) | 2015-12-23 |
KR20120034205A (en) | 2012-04-10 |
US20120267541A1 (en) | 2012-10-25 |
JP5648050B2 (en) | 2015-01-07 |
JP2012532309A (en) | 2012-12-13 |
WO2010145003A1 (en) | 2010-12-23 |
CN109387807A (en) | 2019-02-26 |
CN102625918A (en) | 2012-08-01 |
US8969822B2 (en) | 2015-03-03 |
CA2761728A1 (en) | 2010-12-23 |
EP2443472A4 (en) | 2012-12-05 |
US20160025559A1 (en) | 2016-01-28 |
CA2761728C (en) | 2017-11-07 |
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